transformations in ros / rviz?

tf
rviz

asked 2012-02-15 23:06:35 -0500

liquidmonkey
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updated 2014-01-28 17:11:23 -0500

ngrennan
1 ●1 ●1

hi, i'm quite new to ros and am using rviz to display my point cloud which i have manipulated a little bit using pcl. by manipulated i only applied a voxel grid thereby reducing the number of points.

but my question is, how can i apply a transformation when using rviz? i was able to do it when using only pcl but now that i'm using ros and visualizing it all in rviz, i'm getting compiler errors for just #include pcl/common/transforms.h which is of course, stopping my transformation and translation from working.

or maybe transformations and translations are not necessary in ros? but there must be a way right?

thanks!

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answered 2012-02-16 02:49:56 -0500

joq
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The pcl_ros package provides transforms for PCL point clouds.

Typically, you would add a <depend package="pcl_ros"/> to your manifest.xml, then:

 #include <pcl_ros/transforms.h>

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thanks very much, worked great!

liquidmonkey ( 2012-02-19 21:23:12 -0500 )edit

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answered 2012-02-16 00:42:07 -0500

dornhege

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Transformations in ROS are handled with the tf library.

For rviz you need to publish whatever entity you have using a known frame_id. In addition someone needs to publish a transformation from the currently set fixed_frame to this frame_id. rviz will then display correctly.

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